A preferred assembly method for high-precision planetary gear reducer

Abstract

The present invention discloses a method for optimal assembly of a high-precision planetary gear reducer, the method comprising: hierarchical optimal planetary gear; hierarchical optimal sun gear; planetary gear mechanism assembly; hierarchical optimal single-stage gear ring housing assembly; assembly and fixing of input shaft and rear flange; assembly and fixing of output shaft and front flange; housing assembly and fixing. In the present invention, after hierarchical optimal planetary gear, sun gear and single-stage gear ring housing are optimally graded, the eccentric direction of the inner hole of the planetary gear is marked in the optimal process, and the eccentric direction of the four planetary gears is directed to the same direction after being installed in the assembly process, and the corresponding sun gear and single-stage gear ring housing are adapted to ensure that the sun gear always has a clearance in one direction and is in a tight fit in the other direction, so as to avoid the problems of jamming and vibration under high-precision meshing conditions, further improve the transmission accuracy and stability of the reducer, and achieve multiple performance indicators such as high precision, low side clearance, low noise, and low starting torque.

Description

Technical Field

[0001] The invention relates to the technical field of planetary gear reducer assembly, and in particular to a preferred assembly method for a high-precision planetary gear reducer. Background Art

[0002] Planetary gear reducer is a kind of reducer, which has the performance of reducing the speed and increasing the output torque at the same time.

[0003] In the prior art, the mechanism of a planetary gear reducer generally includes a housing, an input shaft and an output shaft rotatably connected to the two ends of the housing respectively, the output shaft is fixedly provided with a planetary disk, the planetary disk is rotatably connected to at least three planetary gears, the input shaft is fixedly provided with a sun gear meshing with the three planetary gears, and the housing is fixedly provided with an inner gear ring meshing with the three planetary gears; wherein the output shaft and the input shaft are both rotatably connected to the housing through bearings.

[0004] The existing planetary gear reducer has the problem of unstable installation of the planetary gear because only one end face of the planetary wheel is rotatably connected to the planetary disk, which leads to jamming and vibration problems under meshing conditions; secondly, due to the machining errors of the planetary gears, sun gears and inner ring gears, unreasonable matching effects caused by the machining errors are inevitable, resulting in poor meshing matching accuracy of the planetary reduction mechanism, reducing the transmission accuracy and stability of the reducer, and ultimately causing the planetary gear reducer to be unable to achieve compatibility with multiple performance indicators such as high precision, low side clearance, low noise, and low starting torque. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides a preferred assembly method for a high-precision planetary gear reducer, so as to achieve compatibility of the planetary gear reducer with multiple performance indicators such as high precision, low side clearance, low noise, and low starting torque, and is particularly suitable for occasions with higher and stronger requirements on space and load-bearing capacity.

[0006] In order to solve the above problems, the present invention provides a preferred assembly method of a high-precision planetary gear reducer, wherein the planetary gear reducer comprises a planetary gear mechanism, a housing, a mounting shaft and a mounting structure, wherein:

[0007] The planetary gear mechanism includes a sun gear and a plurality of planetary gears evenly distributed and meshingly driven on the outer circumference of the sun gear;

[0008] The housing comprises a rear flange, a single-stage gear ring housing and a front flange which are connected in sequence, and the rear flange and the front flange are made of aluminum alloy;

[0009] The mounting shaft comprises an input shaft and an output shaft connected to each other, the input shaft and the output shaft are both located in the housing, the input shaft is plug-connected with the axle of the sun gear, and one end of the output shaft is provided with a planetary gear mounting seat for mounting the planetary gear mechanism;

[0010] The mounting structure comprises an input shaft mounting structure and an output shaft mounting structure, wherein the input shaft mounting structure is used to mount the input shaft in an internal space formed between the rear flange and the single-stage gear ring housing, and the output shaft mounting structure is used to mount the output shaft in an internal space formed between the single-stage gear ring housing and the front flange;

[0011] The preferred assembly method comprises:

[0012] S1: graded and optimized planetary gear;

[0013] Select the planetary gear set to be tested, install the planetary gear set to be tested on the planetary gear meshing detection equipment one by one, make the planetary gear to be tested and the standard planetary gear to be double-sided meshed without backlash, measure the first meshing data information of the planetary gear to be tested, and divide the planetary gear to be tested into five grades of A1, B1, C1, D1 and E1 according to the first meshing data information;

[0014] S2: graded optimization of sun gear;

[0015] Select the sun gear set to be tested, install the sun gear set to be tested on the sun gear meshing detection equipment one by one, make the sun gear to be tested and the standard sun gear to be double-sided meshed without backlash, measure the second meshing data information of the sun gear to be tested, and divide the sun gear to be tested into five grades of A2, B2, C2, D2 and E2 according to the second meshing data information;

[0016] S3: planetary gear mechanism assembly;

[0017] The axle of the sun gear is plugged and connected to one end of the input shaft, and the sun gear of the sun gear is arranged at the center position of the planetary gear mounting seat of the output shaft;

[0018] The selected planetary gear is installed on the planetary gear mounting seat by means of a pin shaft and a needle roller, and a plurality of planetary gears are evenly distributed and installed on the planetary gear mounting seat. After the plurality of planetary gears are installed in the planetary gear mounting seat, the eccentric direction of each planetary gear faces the same direction, and thus the planetary gear is adapted to the sun gear of the corresponding grade, so that the planetary gear is meshed with the sun gear;

[0019] S4: Grading and selecting the single-stage gear ring housing and assembling it;

[0020] Select the single-stage gear ring housing to be tested, install the single-stage gear ring housing to be tested on the gear ring meshing detection equipment one by one, make the inner ring of the single-stage gear ring housing to be tested double-sided mesh with the standard gear without backlash, measure the third meshing data information of the single-stage gear ring housing to be tested, and divide the single-stage gear ring housing to be tested into five grades of A3, B3, C3, D3, and E3 according to the third meshing data information;

[0021] Adapting a single-stage ring gear housing of a corresponding grade to a preferred planetary gear, and installing the selected single-stage ring gear housing onto the planetary gear mechanism so that the inner ring of the single-stage ring gear housing meshes with the planetary gear;

[0022] S5: Assemble and fix the input shaft and rear flange;

[0023] The input shaft and the rear flange are matched and connected to one side of the single-stage ring gear housing through the input shaft mounting structure, so that the input shaft is located inside the rear flange;

[0024] S6: Assemble and fix the output shaft and the front flange;

[0025] The output shaft and the front flange are matched and connected to the other side of the single-stage gear ring housing through the output shaft mounting structure, so that the output shaft is partially located inside the front flange and protrudes out of the front flange;

[0026] S7: The housing is assembled and fixed.

[0027] Furthermore, in step S1, the planetary gear meshing detection device includes:

[0028] Pedestal frame;

[0029] The detection platform base is installed above the base frame, and the detection platform base includes a supporting bottom plate, a detection platform panel and a lead screw assembly. The detection platform panel is fixedly connected to the top of the supporting bottom plate by adjusting bolts, and the lead screw assembly is installed in the through groove of the detection platform panel;

[0030] The detection platform is slidably connected to the detection platform base, and the detection platform includes a sliding assembly slidably connected to the screw assembly, a first driving base plate slidably connected to the sliding assembly, a linear slide rail, a micro-motion plate, a limit seat installed on the first driving base plate, a planetary gear fixing seat connected to the micro-motion plate, a pressure arm assembly and a grating ruler, wherein:

[0031] The linear slide rail is provided on each of the two opposite sides of the first driving base plate, the upper surface of the other part of the linear slide rail is mounted on the lower surface of the micro-motion plate, one side of the pressure arm assembly is connected to the side wall in the length direction of the micro-motion plate, and the other side extends horizontally and is connected to the planetary gear fixing seat, and the grating ruler is connected to the other side of the micro-motion plate relative to the pressure arm assembly;

[0032] A standard planetary gear transmission structure is installed on the detection table panel and is located on one side of the detection table. The standard planetary gear transmission structure includes a second driving base plate, a driving structure, a tensioner assembly and an upper clamping assembly. Both sides of the bottom of the second driving base plate are connected to the steps of the detection table panel by bolts. The driving structure is suitable for driving the standard planetary gear to rotate. The tensioner assembly is installed on one side of the driving structure, and the upper clamping assembly is installed above the standard planetary gear.

[0033] When the standard planetary gear meshes with the planetary wheel for transmission, the grating ruler is used to convert the first meshing data information between the planetary wheel and the standard planetary gear into the first movement data information, and divide the measured planetary wheel into five levels of A1, B1, C1, D1 and E1 according to the first movement data information.

[0034] Furthermore, in step S1, the specific steps of classifying and selecting the planetary gear include:

[0035] S 11 : Place the planetary gear on the test bench and adjust the test bench base to bring the planetary gear closer to the standard planetary gear;

[0036] S 12 : The upper clamping assembly moves, so that the upper clamping top presses the center of the large synchronous pulley to make the standard planetary gear rotate stably;

[0037] S 13 :The tensioner assembly and the driving structure move, driving the standard planetary gear to rotate and mesh with the planetary gear;

[0038] S 14 : The first meshing data information of the planetary gear meshing transmission is converted into the first movement data information through grating ruler detection, so as to calculate the change of the meshing center distance of the planetary gear.

[0039] Furthermore, three bearing positioning assemblies for determining the center of the circle are provided on the inner holes of the planetary gear, the sun gear and the single-stage ring gear housing or the circumference of the wheel axle, and grating scales are installed on the planetary gear meshing detection equipment, the sun gear meshing detection equipment and the ring gear meshing detection equipment. The grating scales are suitable for detecting the moving distance of the bearing positioning assemblies, so as to obtain the test double-sided meshing center distance during the meshing process of the planetary gear, the sun gear and the single-stage ring gear housing by real-time conversion.

[0040] Furthermore, in steps S1, S2 and S4, the specific method of the first meshing data information, the second meshing data information and the third meshing data information is:

[0041] The starting angle and the ending angle of the rotation period of the planetary gear, the sun gear and the single-stage gear ring housing are determined respectively, and i sampling angles are selected in the rotation period, and the planetary gear, the sun gear and the single-stage gear ring housing are controlled to rotate from the starting angle to the ending angle respectively, and the test double-sided meshing center distance corresponding to the sampling angle is measured, and the test is repeated for multiple times, and the test double-sided meshing center distance of the nth rotation period is recorded as a n θ, θ is the sampling angle, and n is an integer greater than or equal to 1;

[0042] The planetary gear to be tested, the sun gear and the single-stage ring gear housing are clamped to the planetary gear meshing detection device, the sun gear meshing detection device and the ring gear meshing detection device respectively, and the anti-rotation mechanism stops the planetary gear to be tested, the sun gear and the ring gear of the single-stage ring gear housing from rotating, and the control module controls the servo motor so that the output end of the servo motor rotates a certain angle α;

[0043] The torque sensor detects torque data T1, T2 and T3 between the output end of the servo motor and the input end of the planetary gear, the sun gear and the single-stage ring gear housing, respectively, and transmits the torque data T1, T2 and T3 to the data comparison modules in the corresponding planetary gear meshing detection device, the sun gear meshing detection device and the ring gear meshing detection device, respectively;

[0044] The data comparison module compares the torque data T1, T2 and T3 acquired by the torque sensor with the standard torque data T0 stored in the standard data storage module in the planetary gear meshing detection device, the sun gear meshing detection device and the ring gear meshing detection device respectively;

[0045] Different results are output according to the comparison results of the data comparison module: if T1, T2 and T3 are within the numerical range of T0, the results that the meshing clearances of the planetary gear, the sun gear and the single-stage ring gear housing are qualified are given respectively, and a hierarchical structure is given according to the deviation range; otherwise, the results that the meshing clearances of the planetary gear, the sun gear and the single-stage ring gear housing are unqualified are given.

[0046] Furthermore, in step S5, the specific method of assembling and fixing the input shaft and the rear flange is:

[0047] Freezing the axle of the sun gear to -40°C ±5°C, and pressing the axle of the sun gear into the input shaft by a hydraulic press;

[0048] After the first bearing is heated to 80°C±5°C by a special bearing heater, the first bearing is pressed onto the axle of the frozen sun gear by a hydraulic press;

[0049] The end of the input shaft remote from the sun gear is pressed into the rear flange.

[0050] Furthermore, in step S6, the specific method of assembling and fixing the output shaft and the front flange is:

[0051] After freezing the pin to -40℃±5℃, insert the pin into the center of the planetary wheel, and connect the four planetary wheels and the planetary wheel mounting seat in sequence through a hydraulic press;

[0052] After the third bearing is heated to 80°C±5°C by a special bearing heater, the third bearing is pressed onto the outer diameter of the output shaft by a hydraulic press;

[0053] After the single-stage gear ring housing is bolted into the front flange, the output shaft is pressed into the front flange.

[0054] Furthermore, in step S7, the specific steps of assembling and fixing the housing include:

[0055] After the two ends of the single-stage gear ring housing are aligned with the rear flange and the front flange respectively, pressure is applied to force the three to be close together, and finally the rear flange and the front flange are fastened by bolts.

[0056] Furthermore, step S8 is also included, and step S8 specifically includes:

[0057] After the single-stage gear ring housing is fixed to the rear flange, lubricating oil is applied to the tooth grooves of the single-stage gear ring housing. Before connecting the single-stage gear ring housing and the rear flange, lubricating oil is applied to the sun gear and the planetary gear mounting seat respectively.

[0058] Furthermore, the measurement repeatability positioning error of the planetary gear meshing detection device, the sun gear meshing detection device and the ring gear meshing detection device is ±0.5 μm, and the length direction positioning error of the grating ruler is ±3 μm.

[0059] Compared with the prior art, the present invention has significant advantages and beneficial effects, which are specifically embodied in the following aspects:

[0060] 1. After graded optimization of components such as planetary gears, sun gears, and single-stage gear ring housings, the eccentric direction of the inner hole of the planetary gear can be marked during the optimization process (generally, the high and low points of the gears are 180° aligned). During the assembly process, the structure of the four planetary gears is used to ensure that the eccentric directions of the four planetary gears are in the same direction after installation. In this case, the corresponding sun gears and single-stage gear ring housings are matched to ensure that the sun gear always has a clearance in one direction and is in a tight fit in the other direction, avoiding the occurrence of jamming and vibration problems under high-precision meshing conditions, further improving the transmission accuracy and stability of the reducer, and achieving multiple high-performance indicators such as high precision, low side clearance, low noise, and low starting torque.

[0061] 2. The planetary gear mounting seat of the output shaft provides a mounting position for the planetary gear by providing a mounting groove. The planetary gear is located in the mounting groove so that both end faces are adjacent to the planetary gear mounting seat, thereby having the technical condition that both end faces are rotatably connected to the planetary gear mounting seat at the same time, thereby improving the installation stability of the planetary gear; since the planetary gear and the sun gear are both located in the relatively closed hollow structure of the planetary gear mounting seat, the technical effect of reducing noise is achieved; the two arc-shaped parts are forced to deform and clamp the output shaft of the power source such as the motor by the locking bolt, thereby improving the connection strength between the input shaft and the power source; the input shaft is connected to the first bearing by setting a gradient ring, which limits The installation position of the first bearing, on the other hand, improves the connection stability between the first bearing and the input shaft; the characteristic of reducing friction of the needle bearing is utilized to reduce the friction resistance encountered by the planetary gear during rotation, thereby achieving a technical effect of smoother rotation of the planetary gear; a circular groove is added to the planetary gear mounting seat to limit the sun gear at both ends, thereby achieving a technical effect of more stable installation of the sun gear; a circular ring plate is added to the planetary gear mounting seat and the third bearing is installed, so as to cooperate with the second bearing to achieve the technical effect of connecting the two ends of the output component with the housing; because the third bearing is clamped and fixed to the front flange and the rear flange at the same time, the technical effect of closing the joint of the front flange and the rear flange is achieved, thereby effectively improving the sealing of the reducer.

[0062] 3. The planetary reducer has a compact structure, occupies a small space, has high efficiency, precision and reliability, and the space saved inside can be used for tapered roller bearings with stronger load, so it has better load-bearing capacity and can be used in occasions with higher and stronger requirements on space and load-bearing capacity; it has high precision and impact resistance. Compared with the RV reducer, the reducer gear ring is heat treated, the tooth surface of the inner gear ring is nitrided, and the internal teeth are ground. It can achieve level 4 precision and can ensure overload resistance. The good precision retention and overload resistance can increase the service life of grease and reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1It is a schematic flow chart of a preferred assembly method of a high-precision planetary gear reducer in an embodiment of the present invention;

[0064] Figure 2 A schematic diagram of the structure of a planetary reducer in one direction according to an embodiment of the present invention;

[0065] Figure 3 This is a schematic diagram of the structure of the planetary reducer in another direction according to an embodiment of the present invention;

[0066] Figure 4 It is a front cross-sectional structural schematic diagram of a planetary reducer in an embodiment of the present invention;

[0067] Figure 5 This is a schematic diagram of the structure of the planetary gear in an embodiment of the present invention;

[0068] Figure 6 is a schematic diagram of the structure of the sun gear in an embodiment of the present invention;

[0069] Figure 7 It is a structural schematic diagram of a single-stage ring gear housing in an embodiment of the present invention;

[0070] Figure 8 Schematic diagram of the structure of a planetary gear meshing detection device in an embodiment of the present invention;

[0071] Fig. 9 It is a structural schematic diagram of the detection platform base in an embodiment of the present invention;

[0072] Fig.10 It is a structural schematic diagram of a detection platform in an embodiment of the present invention;

[0073] Fig.11 A schematic diagram of the structure of a standard planetary gear transmission structure in one direction in an embodiment of the present invention;

[0074] Fig.12 It is a schematic diagram of the assembly structure of the driving structure and the tensioner assembly in an embodiment of the present invention;

[0075] Fig.13 It is a structural schematic diagram of an upper clamping assembly in an embodiment of the present invention;

[0076] Fig.14 It is a structural schematic diagram of the upper pressing tip in an embodiment of the present invention;

[0077] Fig.15 A schematic diagram of the three-dimensional structure of a sun gear meshing detection device in an embodiment of the present invention;

[0078] Fig.16 A schematic diagram of the three-dimensional structure of a gear ring engagement detection device in an embodiment of the present invention;

[0079] Fig.17It is a schematic diagram of the structure of the rear flange in one direction in an embodiment of the present invention;

[0080] Fig.18 This is a schematic diagram of the structure of the rear flange in another direction in an embodiment of the present invention;

[0081] Fig.19 It is a schematic cross-sectional structural diagram of the rear flange in an embodiment of the present invention;

[0082] Fig. 20 This is a schematic diagram of the structure of the front flange in one direction in an embodiment of the present invention;

[0083] Fig.21 This is a schematic diagram of the structure of the front flange in another direction in an embodiment of the present invention;

[0084] Fig. 22 It is a structural schematic diagram of a single-stage ring gear housing in an embodiment of the present invention;

[0085] Fig.23 is a schematic diagram of the structure of the input shaft in an embodiment of the present invention;

[0086] Fig.24 It is a schematic diagram of the structure of the output shaft in an embodiment of the present invention;

[0087] Fig.25 It is a structural schematic diagram of a planetary gear mechanism in an embodiment of the present invention;

[0088] Fig.26 is a schematic cross-sectional structural diagram of a planetary gear mechanism in an embodiment of the present invention;

[0089] Fig. 27 It is a schematic diagram of the structure in which the pin and the needle roller are assembled in the pin hole in an embodiment of the present invention;

[0090] Fig.28 It is a schematic diagram of the structure in which the pin and the needle roller are assembled in the pin hole in an embodiment of the present invention;

[0091] Fig.29 A schematic diagram of the structure of the pin and the needle roller assembled in the pin hole in an embodiment of the present invention.

[0092] Description of reference numerals:

[0093] 1- housing;

[0094] 11-rear flange; 111-flange mounting plate; 112-flange seat body; 113-first shaft hole; 114-first bearing hole; 115-first sealing slot hole; 116-second bearing hole; 117-first connecting hole; 118-first elastic retaining ring hole; 119-first stop hole;

[0095] 12-single-stage gear ring housing; 121-inner gear ring; 122-second connecting hole; 123-second stop hole; 124-third stop hole;

[0096] 13-front flange; 131-square seat; 132-nested shaft section; 133-support shaft section; 134-third connecting hole; 135-second shaft hole; 136-third bearing hole; 137-oil seal hole;

[0097] 2- Install the shaft;

[0098] 21-input shaft; 211-first shaft section; 2111-first opening groove; 2112-first stepped disc; 212-second shaft section; 2121-annular groove; 213-third shaft section; 214-third shaft hole; 215-fourth shaft hole;

[0099] 22- output shaft;

[0100] 221-fourth shaft section; 2211-fifth shaft hole; 222-planetary gear mounting seat; 2221-planetary gear receiving groove; 2222-second opening groove; 223-fifth shaft section; 224-sixth shaft section; 2241-keyway; 2242-flat key; 225-pin shaft hole;

[0101] 3-Planetary gear mechanism;

[0102] 31-sun gear; 311-sun gear shaft; 312-intermediate main gear; 32-planetary gear; 321-pin shaft; 322-needle roller;

[0103] 4-Mounting structure;

[0104] 41- input shaft mounting structure;

[0105] 411-clamping clip; 412-first bearing; 413-first O-ring; 414-elastic retaining ring for first shaft; 415-elastic retaining ring for first hole;

[0106] 42-output shaft mounting structure;

[0107] 421-second bearing; 422-third bearing; 423-skeleton oil seal;

[0108] 5-Planetary gear meshing detection equipment;

[0109] 51-base frame;

[0110] 52-testing table base; 521-supporting bottom plate; 522-adjusting bolt; 523-testing table panel; 524-screw assembly; 5241-first servo motor; 5242-motor seat; 5243-coupling; 5244-connecting seat; 5245-screw; 5246-support seat;

[0111] 53-testing table;

[0112] 531-sliding assembly; 5311-sliding seat; 5312-sliding block assembly; 5313-nut seat;

[0113] 532-first driving base plate; 533-linear slide rail, 534-micro-motion plate;

[0114] 535-limiting seat; 5351-limiting rod; 5352-limiting block; 5353-spring;

[0115] 536-planetary gear fixing seat; 5361-V-shaped positioning block; 5362-clamping block; 5363-positioning shaft;

[0116] 537-grating ruler;

[0117] 54-standard planetary gear transmission structure; 541-second driving base plate;

[0118] 542-driving structure; 5421-first pulley transmission structure; 54211-first driving motor; 54212-driving synchronous pulley; 54213-pressing cover; 54214-synchronous belt; 54215-driven synchronous pulley; 5422-lower top; 5423-standard planetary gear; 5424-second pulley transmission structure; 54241-large synchronous pulley; 54242-round belt; 54243-small synchronous pulley; 54244-connecting shaft; 54245-bracket base; 54246-photoelectric encoder;

[0119] 543-tensioner assembly; 5431-tensioner mounting plate; 5432-rotation pin; 5433-tensioning rod; 5434-roller pin; 5435-roller;

[0120] 544-upper clamping assembly; 5441-lower clamping bracket; 5442-second drive motor; 5443-floating joint; 5444-adjusting base; 5445-upper clamping top; 54451-transition sleeve;

[0121] 545-upper clamping bracket;

[0122] 6-Sun gear meshing detection equipment;

[0123] 7-Gear ring meshing detection equipment;

[0124] 71-gear ring testing station;

[0125] 72-tooth shape and direction detection table; 73-defect detection table; 74-display component. DETAILED DESCRIPTION

[0126] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0127] It should be noted that when an element is referred to as being "fixed to", "disposed on" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0128] In addition, the terms "first", "second", ... are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", ... may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0129] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "provided with" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0130] See also Figure 1 As shown, an embodiment of the present invention provides a preferred assembly method of a high-precision planetary gear reducer, wherein the planetary gear reducer includes a planetary gear mechanism 3, a housing 1, a mounting shaft 2 and a mounting structure 4, wherein:

[0131] The planetary gear mechanism 3 includes a sun gear 31 and a plurality of planetary gears 32 that are evenly distributed and meshed on the outer circumference of the sun gear 31 .

[0132] The housing 1 comprises a rear flange 11 , a single-stage gear ring housing 12 and a front flange 13 which are connected in sequence, and the rear flange 11 and the front flange 13 are made of aluminum alloy.

[0133] The mounting shaft 2 includes an input shaft 21 and an output shaft 22 which are connected to each other. Both the input shaft 21 and the output shaft 22 are located in the housing 1. The input shaft 21 is plug-connected to the axle of the sun gear 31. One end of the output shaft 22 is provided with a planetary gear mounting seat 222 for mounting the planetary gear mechanism 3.

[0134] The mounting structure 4 includes an input shaft mounting structure 41 and an output shaft mounting structure 42. The input shaft mounting structure 41 is used to mount the input shaft 21 in the internal space formed between the rear flange 11 and the single-stage ring gear housing 12. The output shaft mounting structure 42 is used to mount the output shaft 22 in the internal space formed between the single-stage ring gear housing 12 and the front flange 13.

[0135] The preferred assembly method comprises:

[0136] S1: graded optimization of planetary gear 32;

[0137] Select the planetary gear sets to be tested, and install them one by one on the planetary gear meshing detection device 5, so that the planetary gear 32 to be tested is double-sidedly meshed with the standard planetary gear without backlash, measure the first meshing data information of the planetary gear 32 to be tested, and divide the planetary gear 32 to be tested into five grades of A1, B1, C1, D1, and E1 according to the first meshing data information;

[0138] S2: graded optimization of the sun gear 31;

[0139] Select the sun gear set to be tested, install the sun gear set to be tested on the sun gear meshing detection device 6 one by one, make the sun gear 31 to be tested and the standard sun gear to be double-sided meshed without backlash, measure the second meshing data information of the sun gear 31 to be tested, and divide the sun gear 31 to be tested into five grades of A2, B2, C2, D2, and E2 according to the second meshing data information;

[0140] S3: Assembling the planetary gear mechanism 3;

[0141] The axle of the sun gear 31 is plugged and connected to one end of the input shaft 21, and the sun gear 31 is arranged at the center position of the planetary gear mounting seat 222 of the output shaft 22;

[0142] The selected planetary gear 32 is installed on the planetary gear mounting seat 222 through the pin shaft 321 and the needle roller 322. The multiple planetary gears 32 are evenly distributed and installed on the planetary gear mounting seat 222. After the multiple planetary gears 32 are installed in the planetary gear mounting seat 222, the eccentric direction of each planetary gear 32 faces the same direction, and thus the corresponding level of the sun gear 31 is adapted, so that the planetary gear 32 is meshed with the sun gear 31;

[0143] S4: Grading and selecting the single-stage ring gear housing 12 and assembling it;

[0144] Select the single-stage gear ring housing 12 to be tested, install the single-stage gear ring housing 12 to be tested on the gear ring meshing detection device 7 one by one, make the inner gear ring 121 of the single-stage gear ring housing 12 to be tested double-sided mesh with the standard gear without backlash, measure the third meshing data information of the single-stage gear ring housing 12 to be tested, and divide the single-stage gear ring housing 12 to be tested into five levels of A3, B3, C3, D3, and E3 according to the third meshing data information;

[0145] According to the preferred planetary gear 32, a single-stage gear ring housing 12 of a corresponding grade is matched, and the selected single-stage gear ring housing 12 is installed on the planetary gear mechanism 3, so that the inner gear ring 121 of the single-stage gear ring housing 12 is meshed with the planetary gear 32;

[0146] S5: Assemble and fix the input shaft 21 and the rear flange 11;

[0147] The input shaft 21 and the rear flange 11 are matched and connected to one side of the single-stage ring gear housing 12 through the input shaft mounting structure 41, so that the input shaft 21 is located inside the rear flange 11;

[0148] S6: Assemble and fix the output shaft 22 and the front flange 13;

[0149] The output shaft 22 and the front flange 13 are matched and connected to the other side of the single-stage ring gear housing 12 through the output shaft mounting structure 42 , so that the output shaft 22 is partially located inside the front flange 13 and protrudes out of the front flange 13 .

[0150] S7: The housing 1 is assembled and fixed.

[0151] It should be specially explained here that, for the graded optimization of the planetary gear 32, the sun gear 31 and the single-stage ring gear housing 12, one of the important meshing data information is the double-sided meshing center distance. Therefore, the double-sided meshing test of gears is to make the cylindrical gear under test and the standard measuring gear mesh without gap by the elastic clamping device on the gear double-sided meshing test equipment, and adjust the center distance between the cylindrical gear under test and the standard part by radial movement or swinging, and use a ruler or indicator to measure and obtain the value, so as to evaluate the gear's movement accuracy, working stability and tooth side clearance.

[0152] In addition, it should be emphasized that it is usually necessary to provide a gear that is 2-3 levels or even higher than the gear being tested as a standard gear. The standard gear will be worn during the test. After a long period of testing, the test accuracy will decrease, so it is necessary to regularly inspect and replace the standard gear.

[0153] The test object is a single gear, which is the meshing of the gear under test with the standard gear. However, the actual application stage is the meshing of two ordinary gears. The gear pairing work must be carried out according to the actual assembly situation.

[0154] Specifically, see Figure 8 , 9 As shown, in step S1, the planetary gear meshing detection device 5 is used to detect the planetary gear 32 in the planetary reduction mechanism, and the planetary gear meshing detection device 5 includes a base frame 51, a detection table base 52, a detection table 53 and a standard planetary gear transmission structure 54, wherein:

[0155] The detection table base 52 is installed above the base frame 51. In the embodiment of the present invention, the detection table base 52 preferably includes a supporting bottom plate 521, a detection table panel 523 and a screw assembly 524. The detection table panel 523 is fixedly connected to the top of the supporting bottom plate 521 by an adjusting bolt 522, and the screw assembly 524 is installed in the through groove of the detection table panel 523.

[0156] Preferably, the screw assembly 524 is composed of a first servo motor 5241, a motor seat 5242, a coupling 5243, a connecting seat 5244, a screw 5245 and a supporting seat 5246. The first servo motor 5241 is installed on the side of the detection table panel 523 in the width direction through a servo protective cover. The motor seat 5242 is a square structure with upper and lower openings and mounting holes on the front and back. It is placed in the through slot, and the mounting hole direction of the motor seat 5242 is along the extension direction of the through slot. The end face of the motor 5241 is installed tightly on the motor base 5242, and the output shaft of the first servo motor 5241 passes through the mounting hole of the motor base 5242 and is connected to the coupling 5243 inside the motor base 5242. The connecting base 5244 is installed in another mounting hole of the motor base 5242. One end of the lead screw 5245 passes through the motor base 5242 and is connected to the coupling 5243. The other end of the lead screw 5245 is connected to the support base 5246, and the support base 5246 is installed at the bottom of the through groove.

[0157] See also Fig. 9 , 10 As shown, in the embodiment of the present invention, the detection platform 53 is slidably connected to the detection platform base 52, and the detection platform 53 includes a sliding assembly 531, a first driving base plate 532, a linear slide rail 533, a micro-motion plate 534, a limit seat 535, a planetary gear fixing seat 536 and a grating ruler 537, wherein:

[0158] In this embodiment, in order to enable the detection platform 53 to be reliably and stably slidably connected to the screw assembly 524, the sliding assembly 531 includes a slide seat 5311, a slider assembly 5312 and a nut seat 5313. The slide seat 5311 is installed on the steps on both sides of the through groove of the detection platform panel 523, and the slider assembly 5312 is slidably connected to the slide seat 5311, and the top of the slider assembly 5312 is connected to the bottom surface of the first driving base plate 532. In this embodiment, two slider assemblies 5312 are provided on each linear slide rail 533, and a linear slide rail 533 is respectively provided on two opposite sides of the first driving base plate 532 to ensure that the first driving base plate 532 can run smoothly on the two linear slide rails 533. The nut seat 5313 is passed through the screw 5245, and the top of the nut seat 5313 is connected to the bottom surface of the first driving base plate 532.

[0159] The lower surface of a part of the linear slide rail 533 is installed on the first driving base plate 532, and the upper surface of the other part of the linear slide rail 533 is installed on the lower surface of the micro-motion plate 534. In this way, when the linear slide rail 533 moves relative to each other, it will drive the first driving base plate 532 and the micro-motion plate 534 to move relative to each other.

[0160] The limit seat 535 is installed on the first driving base plate 532, wherein the limit seat 535 in this embodiment includes a limit rod 5351, a limit block 5352 and a spring 5353, the limit rod 5351 horizontally passes through the triangular seat on one side of the first driving base plate 532, and the limit block 5352 is bolted to the side of the micro-motion plate 534, and the end of the limit rod 5351 away from the triangular seat of the first driving base plate 532 passes through the limit block 5352 and is locked with a nut, and a spring 5353 is also sleeved between the triangular seat of the first driving base plate 532 and the limit block 5352.

[0161] Therefore, by setting the limit seat 535, the moving position of the micro-motion plate 534 can be limited, and at the same time, the spring 5353 plays a buffering role.

[0162] See also Fig.10 As shown, in the embodiment of the present invention, the planetary gear fixing seat 536 includes a V-shaped positioning block 5361, a clamping block 5362 and a positioning shaft 5363, one end of the V-shaped positioning block 5361 is fixed to the upper surface of the micro-motion plate 534, and the other end of the V-shaped positioning block 5361 extends out and is connected to the clamping block 5362, and the positioning shaft 5363 is suitable for clamping the positioning shaft 5363, and the positioning shaft 5363 is suitable for installing the detected planetary gear 32. Since the V-shaped positioning block 5361 is connected to the micro-motion plate 534, the micro-motion plate 534 can move left and right along the linear slide rail 533, so that the detected planetary gear 32 is close to the standard planetary gear 5423 and meshes with the standard planetary gear 5423 for transmission.

[0163] In addition, in order to detect and measure the horizontal movement distance of the fine-motion plate 534, a grating ruler 537 is connected to one side of the fine-motion plate 534, so that the movement distance of the fine-motion plate 534 along the length direction can be reflected in real time on the grating ruler 537, and the first meshing data information of the planetary gear 32 can be further calculated by the grating ruler 537.

[0164] See also Fig.11 , 12 As shown, in the embodiment of the present invention, the standard planetary gear transmission structure 54 includes a second driving base plate 541, a driving structure 542, a tensioner assembly 543 and an upper clamping assembly 544, wherein:

[0165] The second driving base plate 541 serves as a supporting base and carrier of the standard planetary gear transmission structure 54 . Both sides of the bottom of the second driving base plate 541 are connected to the steps of the detection table panel 523 by bolts.

[0166] The driving structure 542 includes a first pulley transmission structure 5421, a lower top 5422, a standard planetary gear transmission structure 5423 and a second pulley transmission structure 5424, wherein:

[0167] The first pulley transmission structure 5421 includes a first drive motor 54211, a driving synchronous pulley 54212, a pressure cover 54213, a synchronous belt 54214 and a driven synchronous pulley 54215. The first drive motor 54211 is vertically installed inside the second drive base plate 541, and the output shaft of the first drive motor 54211 passes through the top of the second drive base plate 541. The output shaft of the first drive motor 54211 is connected to the driving synchronous pulley 54212 through a flat key. The top of the driving synchronous pulley 54212 is fixed to the output shaft of the first drive motor 54211 through the pressure cover 54213. The lower top 5422 is connected to the lower top 5422 through the pressure cover 54213. It is vertically fixed on one side of the second driving base plate 541 through a positioning block. It should be noted that the positioning block is composed of a V-shaped positioning plate and an arc-shaped positioning block to vertically fix the lower top 5422. A driven synchronous pulley 54215 is sleeved and connected on the lower top 5422 at the same horizontal height as the driving synchronous pulley 54212. A synchronous belt 54214 is meshed and connected between the driving synchronous pulley 54212 and the driven synchronous pulley 54215, and a standard planetary gear 5423 is also connected to the top of the driven synchronous pulley 54215, wherein the central axis of the standard planetary gear 5423 is embedded in the central hole of the driven synchronous pulley 54215.

[0168] The second pulley transmission structure 5424 includes a large synchronous pulley 54241, a circular belt 54242, a small synchronous pulley 54243, a connecting shaft 54244, a bracket base 54245 and a photoelectric encoder 54246. The large synchronous pulley 54241 is sleeved on the central axis of the standard planetary gear 5423, the bracket base 54245 is installed on the inner wall of the upper clamping assembly 544, and a connecting shaft 54244 is vertically penetrated through the bracket base 54245. The top of the connecting shaft 54244 is connected to the photoelectric encoder 54246, and a small synchronous pulley 54243 is connected to the middle of the connecting shaft 54244. The small synchronous pulley 54243 and the large synchronous pulley 54241 are meshed and connected by a circular belt 54242.

[0169] In addition, in order to tension the circular belt 54242 in the second pulley transmission structure 5424, a tensioner assembly 543 is also arranged next to the circular belt 54242. The tensioner assembly 543 in this embodiment is composed of a tensioner mounting plate 5431, a rotating pin 5432, a tensioning rod 5433, a roller pin 5434 and a roller 5435. The tensioner mounting plate 5431 is installed in the upper clamping bracket 545. A vertical rotating pin 5432 is provided at one corner of the tensioner mounting plate 5431. The rotating pin 5432 is connected to the tensioning rod 5433. The other end of the tensioning rod 5433 is inserted with a roller pin 5434. A roller 5435 is horizontally sleeved on the roller pin 5434. The outer ring of the roller 5435 is in close contact with the circular belt 54242.

[0170] The standard planetary gear transmission structure 54 is installed on the detection table panel 523 and is located on one side of the detection table 53. The standard planetary gear transmission structure 54 includes a second driving base plate 541, a driving structure 542, a tensioner assembly 543 and an upper clamping assembly 544. The bottom sides of the second driving base plate 541 are connected to the steps of the detection table panel 523 by bolts. The driving structure 542 is suitable for driving the standard planetary gear 5423 to rotate. The tensioner assembly 543 is installed on one side of the driving structure 542, and the upper clamping assembly 544 is installed above the standard planetary gear 5423.

[0171] The upper clamping assembly 544 is installed as a whole on the upper clamping bracket 545, and the upper clamping assembly 5444 includes a lower clamping bracket 5441, a second drive motor 5442, a floating joint 5443, an adjustment base 5444 and an upper clamping top 5445. The second drive motor 5442 is vertically inverted and installed on the top of the lower clamping bracket 5441. The floating joint 5443 is connected to the output shaft of the second drive motor 5442. The lower end of the floating joint 5443 is connected to the top of the upper clamping top 5445, and the upper clamping top 5445 is also vertically penetrated on the adjustment base 5444. The adjustment base 5444 is bolted to the upper clamping bracket 545 on the side close to the upper clamping bracket 545.

[0172] It should be noted that a transition sleeve 54451 is also sleeved on the upper pressing tip 5445 , and the transition sleeve 54451 is located inside the adjustment base 5444 .

[0173] The bottom of the upper clamping bracket 545 is connected to the top of the second driving base plate 541 , and the upper clamping bracket 545 as a whole is an L-shaped bracket structure with an arc-shaped transition, so that the upper clamping assembly 544 connected to the top of the upper clamping bracket 545 is just above the center of the standard planetary gear 5423 .

[0174] When the standard planetary gear 5423 meshes with the planetary gear 32 for transmission, the grating ruler 537 is used to convert the first meshing data information between the planetary gear 32 and the standard planetary gear 5423 into the first movement data information, and classify the planetary gear 32 according to the detection standard of the planetary gear 32 to realize the grading and classification of the planetary gear 32.

[0175] Specifically, in step S2, the specific steps of classifying and selecting the planetary gear 32 include:

[0176] S 11 : Place the planetary gear 32 on the test bench 53, and adjust the test bench base 52 to move the planetary gear 32 closer to the standard planetary gear 5423;

[0177] S 12 : The upper clamping assembly 544 moves, so that the upper clamping top 5445 presses the center of the large synchronous pulley 54241 to make the standard planetary gear 5423 rotate stably;

[0178] S 13 : The tensioner assembly 543 and the driving structure 542 act to drive the standard planetary gear 5423 to rotate and mesh with the planetary gear 32;

[0179] S 14 : The first meshing data information of the meshing transmission of the planetary gear 32 is detected and converted into the first movement data information by the grating ruler 537, so as to calculate the change of the meshing center distance of the planetary gear 32.

[0180] Specifically, see Figure 8 , 9 As shown, in step S2, the structures of the planetary gear meshing detection device 5 and the sun gear meshing detection device 6 are substantially the same.

[0181] Specifically, three bearing positioning assemblies for determining the center of a circle are provided on the inner hole of the planetary gear 32, the sun gear 31 and the single-stage ring gear housing or the circumference of the wheel axle in the embodiment of the present invention, and grating scales are installed on the planetary gear meshing detection device 5, the sun gear meshing detection device 6 and the ring gear meshing detection device 7. The grating scales are suitable for detecting the moving distance of the bearing positioning assembly, so as to obtain the test double-sided meshing center distance during the meshing process of the planetary gear 32, the sun gear 31 and the single-stage ring gear housing 12 in real time.

[0182] Specifically, in steps S1, S2 and S4, the specific method of the first meshing data information, the second meshing data information and the third meshing data information is:

[0183] The starting angle and ending angle of the rotation cycle of the planetary gear 32, the sun gear 31 and the single-stage gear ring housing 12 are determined respectively, and i sampling angles are selected in the rotation cycle, and the planetary gear 32, the sun gear 31 and the single-stage gear ring housing 12 are respectively controlled to rotate from the starting angle to the ending angle, and the test double-sided meshing center distance corresponding to the sampling angle is measured, and the test is repeated for multiple times. The test double-sided meshing center distance of the nth rotation cycle is recorded as a n θ, θ is the sampling angle, and n is an integer greater than or equal to 1.

[0184] The planetary gear 32 to be tested, the sun gear 31 and the single-stage ring gear housing 12 are clamped to the planetary gear meshing detection device 5, the sun gear meshing detection device 6 and the ring gear meshing detection device 7 respectively, and the anti-rotation mechanism stops the ring gear of the planetary gear 32 to be tested, the sun gear 31 and the single-stage ring gear housing 12 from rotating, and the control module controls the servo motor so that the output end of the servo motor rotates a certain angle α;

[0185] The torque sensor detects torque data T1, T2 and T3 between the output end of the servo motor and the input end of the planetary gear 32, the sun gear 31 and the single-stage ring gear housing 12, respectively, and transmits the torque data T1, T2 and T3 to the data comparison modules in the corresponding planetary gear meshing detection device 5, the sun gear meshing detection device 6 and the ring gear meshing detection device 7, respectively;

[0186] The data comparison module compares the torque data T1, T2 and T3 acquired by the torque sensor with the standard torque data T0 stored in the standard data storage module in the planetary gear meshing detection device 5, the sun gear meshing detection device 6 and the ring gear meshing detection device 7 respectively;

[0187] Different results are output according to the comparison results of the data comparison module: if T1, T2 and T3 are within the numerical range of T0, the meshing clearances of the planetary gear 32, the sun gear 31 and the single-stage ring gear housing 12 are qualified, and a graded structure is given according to the deviation range; otherwise, the meshing clearances of the planetary gear 32, the sun gear 31 and the single-stage ring gear housing 12 are unqualified.

[0188] Specifically, in step S5, the specific method of assembling and fixing the input shaft 21 and the rear flange 11 is as follows:

[0189] Freeze the axle of the sun gear 31 to -40°C ±5°C, and press the axle of the sun gear 31 into the input shaft 21 by a hydraulic press;

[0190] After the first bearing 412 is heated to 80°C ± 5°C by a special bearing heater, the first bearing 412 is pressed onto the axle of the sun gear 31 by a hydraulic press;

[0191] One end of the input shaft 21 away from the sun gear 31 is pressed into the rear flange 11 .

[0192] Specifically, in step S6, the specific method of assembling and fixing the output shaft 22 and the front flange 13 is:

[0193] After freezing the pin shaft 321 to -40°C ± 5°C, the pin shaft 321 is inserted into the center of the planetary gear 32, and the four planetary gears 32 and the planetary gear mounting seat 222 are sequentially connected by a hydraulic press;

[0194] After the third bearing 422 is heated to 80°C ± 5°C by a special bearing heater, the third bearing 422 is pressed onto the outer diameter of the output shaft 22 by a hydraulic press;

[0195] After the single-stage ring gear housing 12 is fixed in the front flange 13 , the output shaft 22 is pressed into the front flange 13 .

[0196] Specifically, in step S7, the specific steps of assembling and fixing the housing 1 include:

[0197] After the two ends of the single-stage gear ring housing 12 are aligned with the rear flange 11 and the front flange 13 respectively, pressure is applied to force the three to be close together, and finally the rear flange 11 and the front flange 13 are fastened by bolts.

[0198] Specifically, step S8 is also included, and step S8 specifically includes:

[0199] After the single-stage ring gear housing 12 is fixed to the rear flange 11, lubricating oil is applied to the tooth grooves of the single-stage ring gear housing 12. Before connecting the single-stage ring gear housing 12 and the rear flange 11, lubricating oil is applied to the sun gear 31 and the planetary gear mounting seat 222 respectively.

[0200] Specifically, the planetary gear meshing detection device 5, the sun gear meshing detection device 6 and the ring gear meshing detection device 7 in the embodiment of the present invention have a measurement repeatability error of ±0.5 μm, and the longitudinal direction positioning error of the grating ruler is ±3 μm.

[0201] Specifically, see Fig.16 As shown, in step S4, the ring gear meshing detection device 7 is used to perform meshing detection on the meshing teeth of the single-stage ring gear housing 12, and the ring gear meshing detection device 7 includes a ring gear detection station 71, a tooth shape and tooth direction detection station 72, a defect detection station 73 and a display component 74, wherein:

[0202] The tooth shape and tooth direction detection platform 72 is installed on the ring gear detection platform 71. The tooth shape and tooth direction detection platform 72 includes a first support structure, a first drive structure, a first pressure plate structure, a first tensioning assembly, a first mounting seat structure and a first ring gear probe assembly. The single-stage ring gear housing 12 is placed on the first mounting seat structure, wherein:

[0203] The bottom of the first supporting structure is connected to one side of the first mounting seat structure, the top of the first supporting structure is connected to the first driving structure, the first pressure plate structure is connected to the first driving structure, and the first driving structure is suitable for driving the first pressure plate structure to perform horizontal rotational movement; the first tensioning assembly is installed on the side of the first mounting seat structure close to the single-stage ring gear housing 12, so as to be suitable for pressing on the outer circumference of the single-stage ring gear housing 12; the first ring gear probe assembly is installed on the first mounting seat structure and is located within the inner circumference of the single-stage ring gear housing 12, and the first ring gear probe assembly is used to locate and detect the stop roundness information of the single-stage ring gear housing 12, and detect the internal tooth meshing data information of the single-stage ring gear housing 12.

[0204] A grating ruler is installed on the first mounting seat structure, and the grating ruler can measure the movement distance of the corresponding first ring gear probe assembly, so that the stop roundness information and internal tooth meshing data information detected by the first ring gear probe assembly can be converted into the movement distance of the grating ruler, and the measurement information can be displayed in real time on the display assembly 74.

[0205] The defect detection platform 73 is installed parallel to the tooth shape and direction detection platform 72 on the ring gear detection platform 71 and is used to detect all tooth defects of the single-stage ring gear housing 12 .

[0206] The display assembly 74 is installed on one side of the ring gear detection platform 71 and is used to timely view the meshing data information of the corresponding detected single-stage ring gear housing 12 and the stop roundness information of the single-stage ring gear housing 12 .

[0207] See also Figure 17-27 As shown, the planetary reducer in the embodiment of the present invention includes a housing 1, a mounting shaft 2, a planetary gear mechanism 3 and a mounting structure 4, wherein:

[0208] The housing 1 includes a rear flange 11 , a single-stage gear ring housing 12 and a front flange 13 which are connected in sequence. The single-stage gear ring housing 12 has an inner gear ring 121 therein.

[0209] The mounting shaft 2 includes an input shaft 21 and an output shaft 22 that are connected to each other. Both the input shaft 21 and the output shaft 22 are located in the housing 1 .

[0210] The planetary gear mechanism 3 is arranged in the single-stage ring gear housing 12, and the planetary gear mechanism 3 includes a sun gear 31 and a plurality of single-stage planetary gears 32 meshingly connected with the sun gear 31. The single-stage planetary gears 32 are meshed and driven with the inner ring gear 121 on one side close to the single-stage ring gear housing 12.

[0211] The mounting structure 4 includes an input shaft mounting structure 41 and an output shaft mounting structure 42. The input shaft mounting structure 41 is used to mount the input shaft 21 in the internal space formed between the rear flange 11 and the single-stage ring gear housing 12. The output shaft mounting structure 42 is used to mount the output shaft 22 in the internal space formed between the single-stage ring gear housing 12 and the front flange 13.

[0212] See also Figure 2 , 3 As shown, in the embodiment of the present invention, the housing 1 includes a rear flange 11, a single-stage gear ring housing 12 and a front flange 13, wherein:

[0213] The rear flange 11 includes an integrally connected flange mounting body 111 and a flange seat body 112, wherein the central axis direction of the rear flange 11 is provided with a first axial hole 113, a first elastic retaining ring hole 118, a first bearing hole 114 and a second bearing hole 116 in sequence from the left end face of the flange seat body 112 to the right end face of the flange mounting body 111, and a first sealing slot hole 115 is also opened on the inner circumference of the first bearing hole 114.

[0214] The single-stage gear ring housing 12 is cylindrical, and an inner gear ring 121 and a second stop hole 123 are provided on the inner circumference of the single-stage gear ring housing 12 .

[0215] The gear ring of the single-stage gear ring housing 12 is heat treated, and the tooth surface of the inner gear ring 121 is nitrided, and the surface hardness reaches 550HRC (the general hardness in the industry is currently 300-350HRC), which significantly improves the hardness of the gear ring. The inner gear grinding process is tempered to achieve level 4 accuracy, enhance the meshing strength, increase the meshing contact area, and reduce wear.

[0216] The front flange 13 includes a square seat body 131, a nested shaft segment 132 and a supporting shaft segment 133, wherein the nested shaft segment 132 and the supporting shaft segment 133 are coaxially connected to the two ends of the square seat body 131. The central axis direction of the front flange 13 is provided with a second shaft hole 135, a third bearing hole 136 and an oil seal hole 137 in sequence from the left end face of the nested shaft segment 132 to the right end face of the supporting shaft segment 133.

[0217] One end of the rear flange 11 close to the single-stage ring gear housing 12 is a flange mounting disc body 111, and the outer diameter of the flange mounting disc body 111 is equal to that of the single-stage ring gear housing 12. The flange mounting disc body 111 is provided with a first connecting hole 117 along the central axis direction, and the single-stage ring gear housing 12 is provided with a corresponding second connecting hole 122 along the axis direction opposite to the first connecting hole 117. The rear flange 11 can be fixedly connected to the single-stage ring gear housing 12 by inserting bolts into the first connecting hole 117 and the second connecting hole 122.

[0218] The other end of the front flange 13 close to the single-stage ring gear housing 12 is a nested shaft segment 132, and the outer diameter of the nested shaft segment 132 is also equal to that of the single-stage ring gear housing 12. The single-stage ring gear housing 12 is also provided with a second stop hole 123 on one side close to the nested shaft segment 132, and the nested shaft segment 132 is partially suitable for being inserted into the third stop hole 124. The front flange 13 is provided with a third connecting hole 134 along the axial direction, and the single-stage ring gear housing 12 is also provided with a corresponding connecting hole along the axial direction. The front flange 13 can be fixedly connected to the single-stage ring gear housing 12 by inserting bolts into the third connecting hole 134.

[0219] See also Figure 4 , 23 As shown, in the embodiment of the present invention, the mounting shaft 2 includes an input shaft 21 and an output shaft 22, wherein:

[0220] The input shaft 21 includes a first shaft section 211, a second shaft section 212 and a third shaft section 213 which are coaxially connected in sequence, and the first shaft section 211 includes a first opening groove 2111 and a first step disk 2112. The first step disk 2112 is located at the connection between the first shaft section 211 and the second shaft section 212, and the first opening grooves 2111 are evenly distributed along the axial direction and are opened in the first shaft section 211 excluding the first step disk 2112.

[0221] The second shaft section 212 is provided with an annular groove 2121 from one side close to the first stepped disk 2112 to a distance of the same length as the first bearing hole 114. The annular groove 2121 is suitable for arranging the first shaft elastic retaining ring 414. In this way, when the first bearing 412 is installed between the second shaft section 212 and the inner wall of the rear flange 11, one end of the first bearing 412 can be axially limited by the first stepped disk 2112, and the other end of the first bearing 412 can be axially limited by the first shaft elastic retaining ring 414.

[0222] The length of the second shaft section 212 is smaller than the length of the flange mounting body 111 , and the third shaft section 213 extends out of the end surface of the flange mounting body 111 .

[0223] It should be noted that a third shaft hole 214 is formed at the center of the first shaft segment 211 and the second shaft segment 212 , and a fourth shaft hole 215 is formed at the center of the second shaft segment 212 and the third shaft segment 213 , and the third shaft hole 214 and the fourth shaft hole 215 are interconnected.

[0224] See also Figure 4 , 24 As shown, in the embodiment of the present invention, the output shaft 22 includes a fourth shaft segment 221, a planetary gear mounting seat 222, a fifth shaft segment 223 and a sixth shaft segment 224 which are coaxially connected in sequence, wherein:

[0225] A fifth shaft hole 2211 is defined at the center of the fourth shaft segment 221 , and the fourth shaft segment 221 is suitable for being sleeved on the outer circumference of the third shaft segment 213 through the fifth shaft hole 2211 .

[0226] The planetary gear mounting seat 222 is configured as a cylindrical structure, and a planetary gear accommodating groove 2221 is provided inside the planetary gear mounting seat 222. A plurality of evenly distributed second opening grooves 2222 are also provided on the outer circumference of the planetary gear mounting seat 222. The second opening grooves 2222 are connected to the planetary gear accommodating groove 2221, and the fifth axial hole 2211 also penetrates the planetary gear accommodating groove 2221.

[0227] In addition, a plurality of evenly distributed pin holes 225 are horizontally penetrated on the outer circle between the fourth shaft segment 221 and the planetary gear mounting seat 222 along the axial direction.

[0228] The fifth shaft section 223 passes through the third bearing hole 136 and the oil seal hole 137 of the front flange 13 and extends out of the front flange 13 , while the sixth shaft section 224 is completely located outside the front flange 13 .

[0229] A key groove 2241 is further provided on the outer circumference of the sixth shaft segment 224 , and a flat key 2242 is placed in the key groove 2241 , so that the sixth shaft segment 224 can be connected to other external components through the flat key 2242 .

[0230] See also Fig.25 As shown, in the embodiment of the present invention, the planetary gear mechanism 3 includes a sun gear 31 and a plurality of single-stage planetary gears 32 evenly distributed on the outer circumference of the sun gear 31, and the plurality of single-stage planetary gears 32 are all meshed with the sun gear 31 for transmission, wherein:

[0231] The sun gear 31 includes a sun gear shaft 311 and an intermediate main gear 312 sleeved on one end of the sun gear shaft 311 . The sun gear shaft 311 is suitable for being inserted into the fourth shaft hole 215 , so that the input shaft 21 can be fixedly connected to the sun gear 31 .

[0232] Preferably, in this embodiment, four single-stage planetary gears 32 are provided, and the four single-stage planetary gears 32 are evenly distributed on the outer circumference of the sun gear 31. In order to be able to install the four single-stage planetary gears 32 in the planetary gear mounting seat 222, a pin shaft 321 is passed through the center of the single-stage planetary gear 32, and a needle roller 322 is also provided on the outer circumference between the center hole of the single-stage planetary gear 32 and the pin shaft 321. Both ends of the pin shaft 321 extend out of the end surface of the single-stage planetary gear 32 and are suitable for being inserted into the pin shaft hole 225 between the fourth shaft segment 221 and the planetary gear mounting seat 222, and the diameter of the part where the pin shaft 321 contacts with the needle roller 322 is smaller than the diameter of the parts at both ends of the pin shaft 321 (as shown in the attached figure). Fig. 27 As shown, the roller needle 322 is large at both ends and small in the middle).

[0233] This structure can ensure that the bearing will not have axial movement and tilt during the force process, and the micro-clearance at both ends of the bearing can also enhance the lubrication effect of grease, thereby increasing the service life of the bearing. In addition, the planetary gear 32 can produce a slight angle of deflection adaptation during the meshing process with the inner gear ring 121 of the single-stage gear ring housing 12 and the sun gear 31, thereby improving the ability to absorb and adapt to angular errors, further improving the meshing stability and accuracy, and further reducing the operating noise of the reducer.

[0234] In this way, the four single-stage planetary gears 32 are all installed in the planetary gear mounting seat 222, and parts of the single-stage planetary gears 32 extend out of the second open groove 2222 opened on the planetary gear mounting seat 222, and the intermediate main gear 312 of the sun gear 31 is located at the center position of the four single-stage planetary gears 32. When the sun gear 31 rotates, it will drive the four single-stage planetary gears 32 to rotate.

[0235] At the same time, since the inner wall of the single-stage gear ring housing 12 is provided with an inner gear ring 121 meshing with the four single-stage planetary gears 32, the inner gear ring 121 of the single-stage gear ring housing 12 is fixed, thereby driving the four single-stage planetary gears 32 in reverse to perform circumferential meshing transmission around the inner gear ring 121 of the single-stage gear ring housing 12.

[0236] The sun gear 31 and the single-stage planetary gear 32, the front flange 13 and the rear flange 11 and the single-stage ring gear housing 12 in this embodiment are assembled in a preferred manner. By using detection equipment to grade and classify the sun gear 31, the single-stage planetary gear 32, the front flange 13, the rear flange 11 and the single-stage ring gear housing 12, the matching accuracy is improved, thereby solving the unreasonable matching caused by processing errors.

[0237] See also Fig.28 , 29 As shown, after the planetary gear 32 is graded and optimized, the eccentric direction of the inner hole of the planetary gear 32 can be marked in the optimization process (generally, the high point and the low point of the gear are 180° aligned); during the assembly process, the structure of the four planetary gears 32 ensures that the eccentric directions of the four planetary gears 32 are in the same direction after being installed. In this case, the corresponding sun gear 31 is adapted to ensure that the sun gear 31 always has a clearance in one direction and is in a tight fit in the other direction, thereby avoiding the occurrence of jamming and vibration problems under high-precision meshing conditions, further improving the transmission accuracy and stability of the reducer, and achieving the compatibility of multiple high-performance indicators such as high precision, low side clearance, low noise, and low starting torque.

[0238] Fig.28 , 29 The figure shows the eccentric zero-degree state diagram of the planetary gear 32. At this time, the planetary carrier remains stationary. After the single-stage ring gear housing 12 and the sun gear 31 rotate, it can be seen that the eccentric directions of the four planetary gears 32 are always consistent. This assembly method, combined with the floating support design of the central sun gear 31, can achieve the high precision, low noise and low side clearance requirements of the reducer.

[0239] See also Figure 4 As shown, in the embodiment of the present invention, in order to ensure the smooth transmission of the input shaft 21 and the output shaft 22, a mounting structure 4 is further provided in the housing 1, and the mounting structure 4 includes an input shaft mounting structure 41 and an output shaft mounting structure 42, wherein:

[0240] The input shaft mounting structure 41 includes a clamping clip 411, a first bearing 412, a first O-ring 413, a first shaft circlip 414 and a first hole circlip 415, which are described in detail below in conjunction with the structure of the input shaft 21:

[0241] Since the first shaft segment 211 of the input shaft 21 has a plurality of evenly distributed first opening grooves 2111, and the direction of the first opening grooves 2111 extends along the axial direction to the end of the first shaft segment 211, in order to ensure the connection strength of the first shaft segment 211, a clamping clamp 411 is connected to the first shaft segment 211, and the clamping clamp 411 is located in the first shaft hole 113 of the rear flange 11. By locking the clamping clamp 411, the first shaft segment 211 is stably clamped.

[0242] In order to support the input shaft 21, a first bearing 412 is sleeved on the second shaft section 212 of the input shaft 21. One end face of the first bearing 412 abuts against the first stepped disk 2112 of the first shaft section 211 and the first hole elastic circlip 415. The first hole elastic circlip 415 is arranged in the first elastic circlip hole 118 to limit the outer ring of the first bearing 412. In order to limit the axial position of the first bearing 412, a first shaft elastic circlip 414 is also arranged on the other end face of the first bearing 412. The first shaft elastic circlip 414 is installed in the annular groove 2121 of the second shaft section 212, thereby realizing the axial positioning of the first bearing 412. The outer ring of the first bearing 412 is located in the first bearing hole 114 of the rear flange 11. To achieve sealing, a first sealing slot 115 is provided on the inner wall of the first bearing hole 114. The first sealing slot 115 is suitable for placing a first O-ring 413. The top of the first O-ring 413 is pressed tightly in the first sealing slot 115, and the bottom of the first O-ring 413 is pressed tightly on the outer ring of the first bearing 412, thereby achieving sealing on both sides of the first bearing 412 to avoid oil leakage.

[0243] In order to reduce the meshing noise between the sun gear 31 and the planetary gear 32, a first bearing 412 is installed between the rear flange 11, the sun gear 31 and the input shaft 21, and an interference fit is adopted between the second shaft section 212 of the input shaft 21 and the first bearing 412, and the interference amount is adjusted within 0.01-0.04mm according to the bearing specifications of the first bearing 412.

[0244] The outer ring of the first bearing 412 and the first bearing hole 114 of the rear flange 11 are clearance-fitted, and the clearance value is adjusted within 0.01-0.05 mm according to the bearing specification of the first bearing 412. At this time, the sun gear 31 is floatingly installed.

[0245] At this time, the diameter of the first O-ring 413 is 0.2-0.3 times the width of the first bearing 412, ensuring that the first O-ring 413 has sufficient support force on the gap of the first bearing 412. The diameter of the first sealing slot 115 of the first O-ring 413 should be d 沟槽 =(D 轴承 +(1.4-1.8)*D 密封圈 ), and it should be adjusted according to the amount of grease filled in the reducer.

[0246] In addition, the rear flange 11 is made of aluminum alloy, and the first bearing 412 is made of bearing steel GCr15. Because aluminum alloy and cast steel have different thermal expansion coefficients (the linear expansion coefficient of common bearing steel is about 12.5×10 -6mm / ℃, the linear expansion coefficient of common aluminum alloys is about 23.6×10 -6 mm / ℃), after the two metals are assembled, the gap will become loose as the temperature rises. For example, when the planetary reducer is running internally, the motor itself generates temperature and internal pressure (internal oil pressure and air pressure) is formed. Generally, the bearing or skeleton oil seal can withstand a pressure of 0.04Mp. Due to the inconsistent thermal expansion coefficient, the aluminum alloy slightly deforms itself. At this time, the first O-ring 413 is slightly compressed, and the compression amount of the first O-ring 413 is controlled, so that the exhaust process is formed in the side gap of the first O-ring 413.

[0247] Secondly, due to the processing errors of the rear flange 11, the single-stage gear ring housing 12 and the front flange 13, such as shape error, position error, size error, etc., and the uninterrupted heating process causing the size of the first sealing slot 115 to change, the first O-ring 413 may be in a floating state.

[0248] Since the temperature rise of the reducer during operation will cause the internal cavity pressure to rise, the thermal expansion coefficients of the components will be inconsistent and the gap will increase, so this structure can effectively compensate for the matching gap of the components after thermal expansion. Through micro-leakage and deformation, the pressure of the internal and external gases can be balanced, effectively solving the noise and sealing problems of the reducer input part.

[0249] See also Figure 4 , 19 As shown, in the embodiment of the present invention, the output shaft mounting structure 42 includes a second bearing 421, a third bearing 422 and a skeleton oil seal 423, wherein:

[0250] The inner ring of the second bearing 421 is sleeved on the fourth shaft section 221 of the output shaft 22, and a first stop hole 119 is provided on the inner wall of one end of the rear flange 11 close to the single-stage gear ring housing 12, and a second stop hole 123 is also provided on the inner wall of one end of the single-stage gear ring housing 12 close to the rear flange 11. The diameters of the first stop hole 119 and the second stop hole 123 are the same, and the sum of the lengths of the first stop hole 119 and the second stop hole 123 is exactly equal to the width of the second bearing 421.

[0251] Therefore, the first stop hole 119 is fitted on one end face of the second bearing 421, the second stop hole 123 is fitted on the other upper end face of the second bearing 421, and the planetary gear mounting seat 222 is fitted on the other lower end face of the second bearing 421, thereby realizing axial limitation of the second bearing 421.

[0252] The inner ring of the third bearing 422 is sleeved on the fifth shaft section 223 of the output shaft 22, and the outer ring of the third bearing 422 is located in the third bearing hole 136 of the front flange 13. One end of the third bearing 422 is limited by the planetary gear mounting seat 222 of the output shaft 22, and the other end of the third bearing 422 is limited by the inner wall surface of the third bearing hole 136.

[0253] In addition, a skeleton oil seal 423 is sleeved on the fifth shaft section 223, and the outer ring of the skeleton oil seal 423 is located in the oil seal hole 137 of the front flange 13. Thus, the third bearing 422 is sealed by the arrangement of the skeleton oil seal 423.

[0254] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A preferred assembly method for a high-precision planetary gear reducer, characterized in that: The planetary gear reducer comprises a planetary gear mechanism, a housing, a mounting shaft and a mounting structure, wherein: The planetary gear mechanism includes a sun gear and a plurality of planetary gears evenly distributed and meshingly driven on the outer circumference of the sun gear; The housing comprises a rear flange, a single-stage gear ring housing and a front flange which are connected in sequence, and the rear flange and the front flange are made of aluminum alloy; The mounting shaft comprises an input shaft and an output shaft connected to each other, the input shaft and the output shaft are both located in the housing, the input shaft is plug-connected with the axle of the sun gear, and one end of the output shaft is provided with a planetary gear mounting seat for mounting the planetary gear mechanism; The mounting structure comprises an input shaft mounting structure and an output shaft mounting structure, wherein the input shaft mounting structure is used to mount the input shaft in an internal space formed between the rear flange and the single-stage gear ring housing, and the output shaft mounting structure is used to mount the output shaft in an internal space formed between the single-stage gear ring housing and the front flange; The preferred assembly method comprises: S1: graded and optimized planetary gear; Select the planetary gear set to be tested, install the planetary gear set to be tested on the planetary gear meshing detection equipment one by one, make the planetary gear to be tested and the standard planetary gear to be double-sided meshed without backlash, measure the first meshing data information of the planetary gear to be tested, and divide the planetary gear to be tested into five grades of A1, B1, C1, D1 and E1 according to the first meshing data information; S2: graded optimization of sun gear; Select the sun gear set to be tested, install the sun gear set to be tested on the sun gear meshing detection equipment one by one, make the sun gear to be tested and the standard sun gear to be double-sided meshed without backlash, measure the second meshing data information of the sun gear to be tested, and divide the sun gear to be tested into five grades of A2, B2, C2, D2 and E2 according to the second meshing data information; S3: planetary gear mechanism assembly; The axle of the sun gear is plugged and connected to one end of the input shaft, and the sun gear of the sun gear is arranged at the center position of the planetary gear mounting seat of the output shaft; The selected planetary gear is installed on the planetary gear mounting seat by means of a pin shaft and a needle roller, and a plurality of planetary gears are evenly distributed and installed on the planetary gear mounting seat. After the plurality of planetary gears are installed in the planetary gear mounting seat, the eccentric direction of each planetary gear faces the same direction, and thus the planetary gear is adapted to the sun gear of the corresponding grade, so that the planetary gear is meshed with the sun gear; S4: Grading and selecting the single-stage gear ring housing and assembling it; Select the single-stage gear ring housing to be tested, install the single-stage gear ring housing to be tested on the gear ring meshing detection equipment one by one, make the inner ring of the single-stage gear ring housing to be tested double-sided mesh with the standard gear without backlash, measure the third meshing data information of the single-stage gear ring housing to be tested, and divide the single-stage gear ring housing to be tested into five grades of A3, B3, C3, D3, and E3 according to the third meshing data information; According to the preferred planetary gear, a single-stage gear ring housing of a corresponding grade is matched, and the selected single-stage gear ring housing is installed on the planetary gear mechanism so that the inner gear ring of the single-stage gear ring housing meshes with the planetary gear; S5: Assemble and fix the input shaft and rear flange; The input shaft and the rear flange are matched and connected to one side of the single-stage ring gear housing through the input shaft mounting structure, so that the input shaft is located inside the rear flange; S6: Assemble and fix the output shaft and the front flange; The output shaft and the front flange are matched and connected to the other side of the single-stage gear ring housing through the output shaft mounting structure, so that the output shaft is partially located inside the front flange and protrudes out of the front flange; S7: The housing is assembled and fixed.

2. The preferred assembly method of the high-precision planetary gear reducer according to claim 1, characterized in that: In step S1, the planetary gear meshing detection device includes: Pedestal frame; The detection platform base is installed above the base frame, and the detection platform base includes a supporting bottom plate, a detection platform panel and a lead screw assembly. The detection platform panel is fixedly connected to the top of the supporting bottom plate by adjusting bolts, and the lead screw assembly is installed in the through groove of the detection platform panel; The detection platform is slidably connected to the detection platform base, and the detection platform includes a sliding assembly slidably connected to the screw assembly, a first driving base plate slidably connected to the sliding assembly, a linear slide rail, a micro-motion plate, a limit seat installed on the first driving base plate, a planetary gear fixing seat connected to the micro-motion plate, a pressure arm assembly and a grating ruler, wherein: The linear slide rail is provided on each of the two opposite sides of the first driving base plate, the upper surface of the other part of the linear slide rail is mounted on the lower surface of the micro-motion plate, one side of the pressure arm assembly is connected to the side wall in the length direction of the micro-motion plate, and the other side extends horizontally and is connected to the planetary gear fixing seat, and the grating ruler is connected to the other side of the micro-motion plate relative to the pressure arm assembly; A standard planetary gear transmission structure is installed on the detection table panel and is located on one side of the detection table. The standard planetary gear transmission structure includes a second driving base plate, a driving structure, a tensioner assembly and an upper clamping assembly. Both sides of the bottom of the second driving base plate are connected to the steps of the detection table panel by bolts. The driving structure is suitable for driving the standard planetary gear to rotate. The tensioner assembly is installed on one side of the driving structure, and the upper clamping assembly is installed above the standard planetary gear. When the standard planetary gear meshes with the planetary wheel for transmission, the grating ruler is used to convert the first meshing data information between the planetary wheel and the standard planetary gear into the first movement data information, and divide the measured planetary wheel into five levels of A1, B1, C1, D1 and E1 according to the first movement data information.

3. The preferred assembly method of the high-precision planetary gear reducer according to claim 2, characterized in that: In step S1, the specific steps of classifying and selecting the planetary gear include: S 11 : Place the planetary gear on the test bench and adjust the test bench base to bring the planetary gear closer to the standard planetary gear; S 12 : The upper clamping assembly moves, so that the upper clamping top presses the center of the large synchronous pulley to make the standard planetary gear rotate stably; S 13 :The tensioner assembly and the driving structure move, driving the standard planetary gear to rotate and mesh with the planetary gear; S 14 : The first meshing data information of the planetary gear meshing transmission is converted into the first movement data information through grating ruler detection, so as to calculate the change of the meshing center distance of the planetary gear.

4. The preferred assembly method of the high-precision planetary gear reducer according to claim 1, characterized in that: Three bearing positioning assemblies for determining the center of the circle are provided on the inner holes of the planetary gear, the sun gear and the single-stage ring gear housing or the circumference of the wheel axle. The planetary gear meshing detection equipment, the sun gear meshing detection equipment and the ring gear meshing detection equipment are all equipped with grating rulers. The grating rulers are suitable for detecting the moving distance of the bearing positioning assemblies, so as to obtain the test double-sided meshing center distance during the meshing process of the planetary gear, the sun gear and the single-stage ring gear housing by real-time conversion.

5. The preferred assembly method of the high-precision planetary gear reducer according to claim 1, characterized in that: In steps S1, S2 and S4, the specific method of the first meshing data information, the second meshing data information and the third meshing data information is: The starting angle and the ending angle of the rotation period of the planetary gear, the sun gear and the single-stage gear ring housing are determined respectively, and i sampling angles are selected in the rotation period, and the planetary gear, the sun gear and the single-stage gear ring housing are controlled to rotate from the starting angle to the ending angle respectively, and the test double-sided meshing center distance corresponding to the sampling angle is measured, and the test is repeated for multiple times, and the test double-sided meshing center distance of the nth rotation period is recorded as a n θ, θ is the sampling angle, and n is an integer greater than or equal to 1; The planetary gear to be tested, the sun gear and the single-stage ring gear housing are clamped to the planetary gear meshing detection device, the sun gear meshing detection device and the ring gear meshing detection device respectively, and the anti-rotation mechanism stops the planetary gear to be tested, the sun gear and the ring gear of the single-stage ring gear housing from rotating, and the control module controls the servo motor so that the output end of the servo motor rotates a certain angle α; The torque sensor detects torque data T1, T2 and T3 between the output end of the servo motor and the input end of the planetary gear, the sun gear and the single-stage ring gear housing, respectively, and transmits the torque data T1, T2 and T3 to the data comparison modules in the corresponding planetary gear meshing detection device, the sun gear meshing detection device and the ring gear meshing detection device, respectively; The data comparison module compares the torque data T1, T2 and T3 acquired by the torque sensor with the standard torque data T0 stored in the standard data storage module in the planetary gear meshing detection device, the sun gear meshing detection device and the ring gear meshing detection device respectively; Different results are output according to the comparison results of the data comparison module: if T1, T2 and T3 are within the numerical range of T0, the results that the meshing clearances of the planetary gear, the sun gear and the single-stage ring gear housing are qualified are given respectively, and a hierarchical structure is given according to the deviation range; otherwise, the results that the meshing clearances of the planetary gear, the sun gear and the single-stage ring gear housing are unqualified are given.

6. The preferred assembly method of the high-precision planetary gear reducer according to claim 1, characterized in that: In step S5, the specific method of assembling and fixing the input shaft and the rear flange is: Freezing the axle of the sun gear to -40°C ±5°C, and pressing the axle of the sun gear into the input shaft by a hydraulic press; After the first bearing is heated to 80°C±5°C by a special bearing heater, the first bearing is pressed onto the axle of the frozen sun gear by a hydraulic press; The end of the input shaft remote from the sun gear is pressed into the rear flange.

7. The preferred assembly method of the high-precision planetary gear reducer according to claim 1, characterized in that: In step S6, the specific method of assembling and fixing the output shaft and the front flange is: After freezing the pin to -40℃±5℃, insert the pin into the center of the planetary wheel, and connect the four planetary wheels and the planetary wheel mounting seat in sequence through a hydraulic press; After the third bearing is heated to 80°C±5°C by a special bearing heater, the third bearing is pressed onto the outer diameter of the output shaft by a hydraulic press; After the single-stage gear ring housing is bolted into the front flange, the output shaft is pressed into the front flange.

8. The preferred assembly method of the high-precision planetary gear reducer according to claim 1, characterized in that: In step S7, the specific steps of assembling and fixing the housing include: After the two ends of the single-stage gear ring housing are aligned with the rear flange and the front flange respectively, pressure is applied to force the three to be close together, and finally the rear flange and the front flange are fastened by bolts.

9. The preferred assembly method of the high-precision planetary gear reducer according to claim 1, characterized in that: The method further includes step S8, wherein step S8 specifically includes: After the single-stage gear ring housing is fixed to the rear flange, lubricating oil is applied to the tooth grooves of the single-stage gear ring housing. Before connecting the single-stage gear ring housing and the rear flange, lubricating oil is applied to the sun gear and the planetary gear mounting seat respectively.

10. The preferred assembly method of the high-precision planetary gear reducer according to claim 2, characterized in that: The measurement repeatability positioning error of the planetary gear meshing detection device, the sun gear meshing detection device and the ring gear meshing detection device is ±0.5 μm, and the length direction positioning error of the grating ruler is ±3 μm.

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